Mechanical Design and Evaluation of a Selectively-actuated MRI-compatible Continuum Neurosurgical Robot
Shing Shin Cheng,Xuefeng Wang,Seokhwan Jeong,Matt Kole,Steven Roys,Rao P. Gullapalli,Shing Shin Cheng,Xuefeng Wang,Seokhwan Jeong,Matt Kole,Steven Roys,Rao P. Gullapalli
The combination of a dexterous continuum robot and magnetic resonance imaging can potentially improve surgical precision and minimize brain manipulation in a minimally invasive neurosurgical procedure. In this work, a seven degree-of-freedom (DoF) continuum neurosurgical robot was developed. The main innovation lies in the design of a safe and robust switching mechanism and gear-based quick-connec...
